. In some types of (indirect-drive)
robotic manipulators, joint motors are locatedaway from the...

Question

. In some types of (indirect-drive)
robotic manipulators, joint motors are locatedaway from the joints and
torques are transmitted to the joints through transmission devices such as
gears, chains, cables, and timing belts. In some other types of (direct-drive)
manipulators, joint motors are located at the joints themselves, the rotor
being on one link and the stator being on the joining link. Discuss the
advantages and disadvantages of these two designs.

Amar Kumar · Accepted Answer

Indirect drive:
Advantage-
Drive trains are not associated on a similar hub in a circuitous drive framework. The tomahawks of revolution on the driving side and burden side are equal. Contingent upon the greatness of the force second, chains, belts, or different parts move the force. A roundabout drive, as opposed to coordinate drive frameworks, utilizes various interconnected parts to convey force and movement. Thus, there are more noteworthy mechanical space for botch. Mechanical backfire, proficiency misfortune, flexibility, and commotion can be in every way created by gearboxes, ball screw components, pulleys, and different gadgets. Comparable to commotion, the turntable is a notable customer illustration of a backhanded drive.
Disadvantage-
Belts diminish engine vibrations that could hurt the pointer when it connects with the record.

. In some types of (indirect-drive) robotic manipulators, joint motors are locatedaway from the joints and torques are transmitted to the joints through transmission devices such as gears, chains,...

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